相关论文: Controllable Path of Destruction

This paper focuses on Passable Obstacles Aware (POA) planner - a novel navigation method for two-wheeled robots in a highly cluttered environment. The navigation algorithm detects and classifies objects to distinguish two types of obstacles…

Despite recent advancements in 3D generation methods, achieving controllability still remains a challenging issue. Current approaches utilizing score-distillation sampling are hindered by laborious procedures that consume a significant…

Dynamic mode decomposition (DMD) is a versatile approach that enables the construction of low-order models from data. Controller design tasks based on such models require estimates and guarantees on predictive accuracy. In this work, we…

Machine learning (ML) classifiers serve as essential tools facilitating classification and prediction across various domains. The performance of these algorithms should be known to ensure their reliable application. In certain fields,…

In this paper, we present a novel method to drive a nonlinear system to a desired state, with limited a priori knowledge of its dynamic model: local dynamics at a single point and the bounds on the rate of change of these dynamics. This…

Recent development of object detection mainly depends on deep learning with large-scale benchmarks. However, collecting such fully-annotated data is often difficult or expensive for real-world applications, which restricts the power of deep…

Articulated objects exist widely in the real world. However, previous 3D generative methods for unsupervised part decomposition are unsuitable for such objects, because they assume a spatially fixed part location, resulting in inconsistent…

We propose some slight additions to O-O languages to implement the necessary features for using Deductive Object Programming (DOP). This way of programming based upon the manipulation of the Production Tree of the Objects of Interest,…

Path following controllers make the output of a control system approach and traverse a pre-specified path with no apriori time parametrization. In this paper we present a method for path following control design applicable to framed curves…

The Projection on Proper elements (PoPe) is a novel method of code control dedicated to 1) checking the correct implementation of models, 2) determining the convergence of numerical methods and 3) characterizing the residual errors of any…

Control of nonlinear distributed parameter systems (DPS) under uncertainty is a meaningful task for many industrial processes. However, both intrinsic uncertainty and high dimensionality of DPS require intensive computations, while…

Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the…

The modal decomposition techniques of proper orthogonal decomposition (POD) and dynamic mode decomposition (DMD) have become a common method for analysing the spatio-temporal coherence of dynamical systems. In particular, these techniques…

Autoencoder techniques find increasingly common use in reduced order modeling as a means to create a latent space. This reduced order representation offers a modular data-driven modeling approach for nonlinear dynamical systems when…

To overcome the obstructions imposed by high-dimensional bipedal models, we embed a stable walking motion in an attractive low-dimensional surface of the system's state space. The process begins with trajectory optimization to design an…

Fluid dynamics systems driven by dominant, nearly periodic large-scale dynamics are common across wakes, jets, rotating machinery, and high-speed flows. Traditional decomposition techniques such as proper orthogonal decomposition and…

In robotic deformable object manipulation (DOM) applications, constraints arise commonly from environments and task-specific requirements. Enabling DOM with constraints is therefore crucial for its deployment in practice. However, dealing…

Underwater vehicles are employed in the exploration of dynamic environments where tuning of a specific controller for each task would be time-consuming and unreliable as the controller depends on calculated mathematical coefficients in…

Proportional-integral-derivative (PID) control is the most widely used in industrial control, robot control and other fields. However, traditional PID control is not competent when the system cannot be accurately modeled and the operating…

Proof-of-Learning (PoL) proposes that a model owner logs training checkpoints to establish a proof of having expended the computation necessary for training. The authors of PoL forego cryptographic approaches and trade rigorous security…